train_partseg.py

import torch
import torch.optim as optim
from torch.utils.data import DataLoader
import numpy as np
import dgl

from functools import partial
import tqdm
import argparse
import time

import provider
from ShapeNet import ShapeNet
from pct import PointTransformerSeg, PartSegLoss

parser = argparse.ArgumentParser()
parser.add_argument('--dataset-path', type=str, default='')
parser.add_argument('--load-model-path', type=str, default='')
parser.add_argument('--save-model-path', type=str, default='')
parser.add_argument('--num-epochs', type=int, default=500)
parser.add_argument('--num-workers', type=int, default=8)
parser.add_argument('--batch-size', type=int, default=16)
parser.add_argument('--tensorboard', action='store_true')
args = parser.parse_args()

num_workers = args.num_workers
batch_size = args.batch_size


def collate(samples):
    graphs, cat = map(list, zip(*samples))
    return dgl.batch(graphs), cat


CustomDataLoader = partial(
    DataLoader,
    num_workers=num_workers,
    batch_size=batch_size,
    shuffle=True,
    drop_last=True)


def train(net, opt, scheduler, train_loader, dev):
    category_list = sorted(list(shapenet.seg_classes.keys()))
    eye_mat = np.eye(16)
    net.train()

    total_loss = 0
    num_batches = 0
    total_correct = 0
    count = 0
    start = time.time()
    with tqdm.tqdm(train_loader, ascii=True) as tq:
        for data, label, cat in tq:
            num_examples = data.shape[0]
            data = data.to(dev, dtype=torch.float)
            label = label.to(dev, dtype=torch.long).view(-1)
            opt.zero_grad()
            cat_ind = [category_list.index(c) for c in cat]
            # An one-hot encoding for the object category
            cat_tensor = torch.tensor(eye_mat[cat_ind]).to(
                dev, dtype=torch.float)
            cat_tensor = cat_tensor.view(num_examples, 16, 1)
            logits = net(data, cat_tensor)
            loss = L(logits, label)
            loss.backward()
            opt.step()

            _, preds = logits.max(1)

            count += num_examples * 2048
            loss = loss.item()
            total_loss += loss
            num_batches += 1
            correct = (preds.view(-1) == label).sum().item()
            total_correct += correct

            AvgLoss = total_loss / num_batches
            AvgAcc = total_correct / count

            tq.set_postfix({
                'AvgLoss': '%.5f' % AvgLoss,
                'AvgAcc': '%.5f' % AvgAcc})
    scheduler.step()
    end = time.time()
    print("[Train] AvgLoss: {:.5}, AvgAcc: {:.5}, Time: {:.5}s".format(total_loss /
          num_batches, total_correct / count, end - start))
    return data, preds, AvgLoss, AvgAcc, end-start


def mIoU(preds, label, cat, cat_miou, seg_classes):
    for i in range(preds.shape[0]):
        shape_iou = 0
        n = len(seg_classes[cat[i]])
        for cls in seg_classes[cat[i]]:
            pred_set = set(np.where(preds[i, :] == cls)[0])
            label_set = set(np.where(label[i, :] == cls)[0])
            union = len(pred_set.union(label_set))
            inter = len(pred_set.intersection(label_set))
            if union == 0:
                shape_iou += 1
            else:
                shape_iou += inter / union
        shape_iou /= n
        cat_miou[cat[i]][0] += shape_iou
        cat_miou[cat[i]][1] += 1

    return cat_miou


def evaluate(net, test_loader, dev, per_cat_verbose=False):
    category_list = sorted(list(shapenet.seg_classes.keys()))
    eye_mat = np.eye(16)
    net.eval()

    cat_miou = {}
    for k in shapenet.seg_classes.keys():
        cat_miou[k] = [0, 0]
    miou = 0
    count = 0
    per_cat_miou = 0
    per_cat_count = 0

    with torch.no_grad():
        with tqdm.tqdm(test_loader, ascii=True) as tq:
            for data, label, cat in tq:
                num_examples = data.shape[0]
                data = data.to(dev, dtype=torch.float)
                label = label.to(dev, dtype=torch.long)
                cat_ind = [category_list.index(c) for c in cat]
                cat_tensor = torch.tensor(eye_mat[cat_ind]).to(
                    dev, dtype=torch.float)
                cat_tensor = cat_tensor.view(
                    num_examples, 16, 1)
                logits = net(data, cat_tensor)
                _, preds = logits.max(1)

                cat_miou = mIoU(preds.cpu().numpy(),
                                label.view(num_examples, -1).cpu().numpy(),
                                cat, cat_miou, shapenet.seg_classes)
                for _, v in cat_miou.items():
                    if v[1] > 0:
                        miou += v[0]
                        count += v[1]
                        per_cat_miou += v[0] / v[1]
                        per_cat_count += 1
                tq.set_postfix({
                    'mIoU': '%.5f' % (miou / count),
                    'per Category mIoU': '%.5f' % (per_cat_miou / per_cat_count)})
    print("[Test] mIoU: %.5f, per Category mIoU: %.5f" %
          (miou / count, per_cat_miou / per_cat_count))
    if per_cat_verbose:
        print("-" * 60)
        print("Per-Category mIoU:")
        for k, v in cat_miou.items():
            if v[1] > 0:
                print("%s mIoU=%.5f" % (k, v[0] / v[1]))
            else:
                print("%s mIoU=%.5f" % (k, 1))
        print("-" * 60)
    return miou / count, per_cat_miou / per_cat_count


dev = torch.device("cuda" if torch.cuda.is_available() else "cpu")
net = PointTransformerSeg()

net = net.to(dev)
if args.load_model_path:
    net.load_state_dict(torch.load(args.load_model_path, map_location=dev))

opt = torch.optim.SGD(
    net.parameters(),
    lr=0.01,
    weight_decay=1e-4,
    momentum=0.9
)

scheduler = torch.optim.lr_scheduler.CosineAnnealingLR(
    opt, T_max=args.num_epochs)

L = PartSegLoss()

shapenet = ShapeNet(2048, normal_channel=False)

train_loader = CustomDataLoader(shapenet.trainval())
test_loader = CustomDataLoader(shapenet.test())

# Tensorboard
if args.tensorboard:
    import torchvision
    from torch.utils.tensorboard import SummaryWriter
    from torchvision import datasets, transforms
    writer = SummaryWriter()
# Select 50 distinct colors for different parts
color_map = torch.tensor([
    [47, 79, 79], [139, 69, 19], [112, 128, 144], [85, 107, 47], [139, 0, 0], [
        128, 128, 0], [72, 61, 139], [0, 128, 0], [188, 143, 143], [60, 179, 113],
    [205, 133, 63], [0, 139, 139], [70, 130, 180], [205, 92, 92], [154, 205, 50], [
        0, 0, 139], [50, 205, 50], [250, 250, 250], [218, 165, 32], [139, 0, 139],
    [10, 10, 10], [176, 48, 96], [72, 209, 204], [153, 50, 204], [255, 69, 0], [
        255, 145, 0], [0, 0, 205], [255, 255, 0], [0, 255, 0], [233, 150, 122],
    [220, 20, 60], [0, 191, 255], [160, 32, 240], [192, 192, 192], [173, 255, 47], [
        218, 112, 214], [216, 191, 216], [255, 127, 80], [255, 0, 255], [100, 149, 237],
    [128, 128, 128], [221, 160, 221], [144, 238, 144], [123, 104, 238], [255, 160, 122], [
        175, 238, 238], [238, 130, 238], [127, 255, 212], [255, 218, 185], [255, 105, 180],
])
# paint each point according to its pred


def paint(batched_points):
    B, N = batched_points.shape
    colored = color_map[batched_points].squeeze(2)
    return colored


best_test_miou = 0
best_test_per_cat_miou = 0

for epoch in range(args.num_epochs):
    print("Epoch #{}: ".format(epoch))
    data, preds, AvgLoss, AvgAcc, training_time = train(
        net, opt, scheduler, train_loader, dev)
    if (epoch + 1) % 5 == 0 or epoch == 0:
        test_miou, test_per_cat_miou = evaluate(
            net, test_loader, dev, True)
        if test_miou > best_test_miou:
            best_test_miou = test_miou
            best_test_per_cat_miou = test_per_cat_miou
            if args.save_model_path:
                torch.save(net.state_dict(), args.save_model_path)
        print('Current test mIoU: %.5f (best: %.5f), per-Category mIoU: %.5f (best: %.5f)' % (
            test_miou, best_test_miou, test_per_cat_miou, best_test_per_cat_miou))
    # Tensorboard
    if args.tensorboard:
        colored = paint(preds)
        writer.add_mesh('data', vertices=data,
                        colors=colored, global_step=epoch)
        writer.add_scalar('training time for one epoch',
                          training_time, global_step=epoch)
        writer.add_scalar('AvgLoss', AvgLoss, global_step=epoch)
        writer.add_scalar('AvgAcc', AvgAcc, global_step=epoch)
        if (epoch + 1) % 5 == 0:
            writer.add_scalar('test mIoU', test_miou, global_step=epoch)
            writer.add_scalar('best test mIoU',
                              best_test_miou, global_step=epoch)
    print()